Tutorial to Run NITROS-Accelerated Graph with Argus Camera

graph LR; argus_node("ArgusStereoNode (Raw Image)") --> left_rectify_node("RectifyNode (Rectified Image)"); argus_node --> right_rectify_node("RectifyNode (Rectified Image)"); left_rectify_node --> ess_node("ESSDisparityNode (DNN Inference)"); right_rectify_node --> ess_node; ess_node --> point_cloud_point("PointCloudNode (Point Cloud Output)");

If you have an Argus-compatible camera, you can also use the launch file provided in this package to start a fully NITROS-accelerated stereo disparity graph.

To start the graph:

  1. Follow the quickstart up to step 6.

  2. Inside the container, install the isaac_ros_argus_camera package.

    sudo apt-get install -y ros-humble-isaac-ros-argus-camera

  3. Launch ESS Disparity Node:

    ros2 launch isaac_ros_ess isaac_ros_argus_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine